[Albert]

You could integrate the additional axis by generating a custom command before and/or after the robot movement in the post processors.

The following link shows how you can select a post processor for a specific robot in your RoboDK project.
//m.sinclairbody.com/doc/en/Post-Processor...SelectPost
Post processors define how the program is generated for a specific robot you can customize your integration.

For example, I would recommend you to do the following:

1. 触发一个信号移动轴without blocking the robot move
   
2. Send the signal to the robot to move move
   
3. Wait for the axis to reach the final position
   

The modification required in the post processor should be something like this:

Code:

def MoveJ(self, pose, joints, conf_RLF):
"""Add a joint movement"""
if len(joints) > 6: # Integrate external axis
self.addline("MoveAxis(%.3f,blocking=False)" % (joints[6]))
self.addline("robot.Run('MoveJoints', %s)" % joints_2_str(joints[:6]))
self.addline("MoveAxis(%.3f,blocking=True)" % (joints[6]))
else: # Default joint movement
self.addline("robot.Run('MoveJoints', %s)" % joints_2_str(joints))

The function MoveAxis should be available in the generated code and should implement the control of the external axis. You could take a similar approach for the linear movements (MoveL)